UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm

<div>Average performance comparison for preprocessing steps according to the number of iterations for the short-range test cases (a) and the long-range test cases (b). Preprocessing steps are applied, and postprocessing steps are not applied for all 3 PSO algorithms.</div>

International Journal of Aerospace Engineering

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Figure 16

Figure 16: UAV Path Planning under Dynamic Threats Using an Improved PSO Algorithm 